Getting Started

These instructions will get you a copy of the project up and running on your local machine for testing purposes with ROS noetic.

Install

• Install SEROW
• Create a ROS workspace with mkdir -p ros_ws/src
• cd ros_ws/src
• ln -s $SEROW_PATH/serow_ros ./serow_ros
• cd .. && catkin_make -DCMAKE_BUILD_TYPE=Release

Minimum Robot Requirements

Using the Base Estimator to estimate:

• 3D-Base position/orientation/linear velocity
• 3D-Contact foot position/orientation
• IMU biases

Requirements

• Robot state publisher (e.g. topic: /joint_states)
• IMU (e.g. topic /imu0)
• Feet Pressure or Force/Torque sensors for detecting contact (e.g. topic: /left_leg/force_torque_states, /right_leg/force_torque_states)

Using the full cascade framework (Base Estimator + CoM Estimator) to estimate:

• 3D-Base position/orientation/linear velocity
• 3D-Contact foot position/orientation
• IMU biases
• 3D-CoM position/linear velocity
• 3D-External forces on CoM

Requirements:

• Robot State Publisher (e.g. topic: /joint_states)
• IMU (e.g. topic /imu0)
• Feet Pressure or Force/Torque sensors for Center of Pressure (COP) computation in the local foot frame (e.g. topics /left_leg/force_torque_states, /right_leg/force_torque_states)

Using our serow_utils package

Use the serow_utils to visualize the estimated trajectories and to contrast them with other trajectories (e.g. ground_truth).

ROS Examples

Valkyrie SRCsim

• Download the valkyrie bag file from valk_bagfile
• roscore
• rosbag play --pause valk.bag
• roslaunch serow_ros serow_valk.launch
• roslaunch serow_ros serow_utils.launch
• hit space to unpause the rosbag play

NAO Walking on rough terrain outdoors

• Download the nao bag file from nao_bagfile
• roscore
• rosbag play --pause nao.bag
• roslaunch serow_ros serow_nao.launch
• roslaunch serow_ros serow_utils.launch
• hit space to unpause the rosbag play

Launch on your Robot in real time

• Specify topics on config/estimation_params.yaml
• roslaunch serow_ros serow.launch

Citation

Upon usage in an academic work kindly cite:

@ARTICLE{PiperakisRAL18,
author={S. {Piperakis} and M. {Koskinopoulou} and P. {Trahanias}},
journal={IEEE Robotics and Automation Letters},
title={{Nonlinear State Estimation for Humanoid Robot Walking}},
year={2018},
volume={3},
number={4},
pages={3347-3354},
doi={10.1109/LRA.2018.2852788},
month={Oct},
}

License

GNU GPLv3